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# PID controller Design

## 1.

Review past lectures & Continuation of
PID Controller Design
Md Hazrat Ali
Department of Mechanical Engineering
School of Engineering,
Nazarbayev University

## 2.

Today’s Quote:
“Good, better, best. Never let it rest. Til your good is better
― St. Jerome

## 3.

Classical ControllerPID Controller

## 4.

Introduction
Design PID control
Know mathematical model various design techniques
Plant is complicated, can’t obtain mathematical model
experimental approaches to the tuning of PID controllers

## 5. PID Control

PID Control
A closed loop (feedback) control system, generally with
Single Input­Single Output (SISO)
A portion of the signal being fed back is:
Proportional to the signal  (P)
Proportional to integral of the signal (I)
Proportional to the derivative of the signal (D)

## 7.

The Characteristics of P, I, and D controllers
CL RESPONSE
RISE TIME
OVERSHOOT
SETTLING TIME
S-S ERROR
Kp
Decrease
Increase
Small Change
Decrease
Ki
Decrease
Increase
Increase
Eliminate
Kd
Small Change
Decrease
Decrease
Small Change

## 8. Figure 4.11 Process reaction curve

PID Controller- Ziegler Method #1
Figure 4.11 Process reaction curve

## 9.

PID Controller- Ziegler Method #1
Figure 4.11 Process reaction curves (R.C.Dorf et.al and Others)

## 10. Figure 4.12 Quarter decay ratio

PID Controller- Ziegler Method #1
Figure 4.12 Quarter decay ratio

## 11.

PID Controller- Ziegler Method #1

## 12. Figure 4.13 Determination of ultimate gain and period

PID Controller- Ziegler Method #2
Figure 4.13 Determination of ultimate gain and period

## 13. Figure 4.14 Neutrally stable system

PID Controller- Ziegler Method #2
Figure 4.14 Neutrally stable system

## 14.

PID Controller- Ziegler Method #2
Ti - the controller's integrator time constant
Td - the controller's derivative time constant

## 15.

Example: Method # 1
Figure 4.15 A measured process reaction curve

## 16.

Example: Method # 2
Figure 4.17 Ultimate period of heat exchanger

## 17.

Exercise # 1-PID Controller

## 20.

Practice-Exercise